Stable polynomial gait of a biped robot with Toe joint

This paper presents a trajectory generation algorithm for human like walk of a biped robot with movable foot and active toe. A neural network approach is used for solving inverse kinematics so that the biped follows the ankle and hip trajectory in plane surface. In the dynamic stability investigation part, Zero Moment Point (ZMP) stability with respect to the upper body movement in transverse plane has been studied. The developed algorithm is implemented in the simulation of a biped walking using Matlab software.